define laser ranger
(
  sensor
  (
    range_max 6.5
    fov 360.0
    samples 640
  )
  # generic model properties
  color "blue"
  size [ 100 100 100 ]
)

#
# Robot model:
# footprint (counter-clockwise): [-0.1,-0.125], [0.2,-0.125], [0.2,0.125], [-0.1,0.125]
# center of rotation: [0,0]
# wheelbase: 0.16

define robot position
(
  pose [ 0.0 0.0 0.0 0.0 ]

  odom_error [0.03 0.03 999999 999999 999999 0.02]
  # this models the footprint (rectangular), but shifted such that the bottom-left corner is in [0,0]. The center of rotation now here at [0.3, 0.125, 0.2]
  size [ 0.22 0.18 0.2] 
  # correct center of rotation:
  origin [ 0 0.0 0.0 0.0]
  gui_nose 1
  color "red"

  # kinematics
  drive "car"
  wheelbase 14.5 # distance between both axles
  
  # spawn sensors
  laser(pose [ 0 0 0 0 ])
)
